Warning method, warning device, electronic device, vehicle and storage medium

Abstract

The invention discloses a warning method, a warning device, an electronic device, a vehicle and a nonvolatile computer readable storage medium. The warning method comprises the steps that under the condition that the door opening action of a vehicle is detected, information of the environment around the vehicle is obtained; and when it is determined that the door opening action has risks based on the environment information, warning information is sent out. Under the condition that the risk exists in the door opening action based on the environment information, the warning information is sent out, so that at least one of a driver and a conductor who want to open a vehicle door and surrounding traffic participants can be warned; therefore, a person who obtains the warning information in time can quickly respond (for example, a driver and passengers stop opening the door, and surrounding traffic participants stop in front of the vehicle door or bypass the vehicle door to run), so that accidents are avoided, and the traffic safety is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically, to a warning method, a warning device, an electronic device, a vehicle, and a non-volatile computer-readable storage medium. Background Art

[0002] At present, when a vehicle opens its door, it is difficult for traffic participants (such as pedestrians, vehicles, etc.) passing by the vehicle to notice the vehicle's door opening action in time, or due to the high driving speed, even if traffic participants notice the vehicle's door opening action, it is difficult to avoid collision with the opened door, thereby causing traffic accidents, and driving safety is low. Summary of the invention

[0003] The embodiments of the present application provide a warning method, a warning device, an electronic device, a vehicle, and a non-volatile computer-readable storage medium, which can issue a warning message when it is determined based on environmental information that there is a risk in the door opening action, thereby avoiding traffic accidents and improving driving safety.

[0004] The warning method of the present application includes: when a door opening action of a vehicle is detected, obtaining environmental information around the vehicle; when it is determined based on the environmental information that the door opening action involves risk, issuing a warning message.

[0005] In some embodiments, the environmental information includes position information of objects around the vehicle, and the method further includes: determining that the door opening action is risky when it is determined that there is a target object moving toward the vehicle based on the position information of the objects around the vehicle.

[0006] In some embodiments, the method further includes: determining a moving direction of the object based on position information of the object collected within a preset time period; and determining that there is a target object moving toward the vehicle when the moving direction of any object is toward the vehicle.

[0007] In some embodiments, the vehicle includes a first warning device, and the first warning device is disposed in the vehicle, and the issuing of the warning message includes: controlling the first warning device to issue the warning message.

[0008] In some embodiments, the warning information includes at least one of voice warning information, light warning information, and seat vibration warning information.

[0009] In some embodiments, the vehicle further includes a second warning device, which is disposed on the vehicle and located outside the vehicle, and the issuing of the warning message includes: controlling the second warning device to issue the warning message.

[0010] In some embodiments, the second warning device includes a projection device, and the warning information includes a warning image projected by the projection device.

[0011] In some embodiments, the warning image is projected below the outer side of a door of the vehicle.

[0012] In some embodiments, the second warning device includes multiple second warning devices, and the multiple second warning devices are respectively set to correspond to multiple vehicle doors. The controlling the second warning device to issue the warning message includes: determining a target door corresponding to the door opening action among the multiple vehicle doors; and controlling the second warning device corresponding to the target door to issue the warning message.

[0013] In certain embodiments, after issuing the warning message, the method further includes: in a case where it is determined based on the environmental information that the door opening action still presents a risk, if the door opening action is detected again, locking the vehicle door.

[0014] In certain embodiments, after the vehicle doors are locked, the method further includes: unlocking the doors upon receiving a door unlock signal, wherein the door unlock signal is generated based on an unlock operation received by any one of a self-locking button set for the vehicle, a central control screen of the vehicle, and a terminal communicatively connected to the vehicle.

[0015] In some embodiments, the warning information further includes customized warning information, and the customized warning information is generated based on a customized operation received by any one of a central control screen of the vehicle and a terminal communicatively connected to the vehicle.

[0016] The warning device of the embodiment of the present application includes an acquisition module and a control module. The acquisition module is used to acquire environmental information around the vehicle when a door opening action of the vehicle is detected; the control module is used to issue a warning message when it is determined that there is a risk in the door opening action based on the environmental information.

[0017] The electronic device of the present application includes: a processor, the processor is connected to a memory; a computer program is stored in the memory, and the processor executes the computer program to implement instructions of the warning method described in any of the above embodiments.

[0018] The vehicle according to the embodiment of the present application includes the warning device described in any one of the above embodiments or the electronic device described in any one of the above embodiments.

[0019] The computer device of an embodiment of the present application includes a processor, a memory; and a computer program, wherein the computer program is stored in the memory and executed by the processor, and the computer program includes instructions for executing the warning method described in any of the above embodiments.

[0020] The non-volatile computer-readable storage medium of the embodiment of the present application includes a computer program. When the computer program is executed by a processor, the processor executes the warning method described in any of the above embodiments.

[0021] The warning method, warning device, electronic device, vehicle and non-volatile computer-readable storage medium of the implementation mode of the present application obtain environmental information about the vehicle's surroundings when the vehicle's door opening action is detected, thereby improving the vehicle's perception of the surrounding environment, so that the driver and passengers in the vehicle can more clearly understand the environmental conditions around the vehicle; when it is determined based on the environmental information that there is a risk in the door opening action, a warning message is issued, which can warn at least one of the driver and passengers who want to open the door and the surrounding traffic participants, so that the person who obtains the warning information in time can respond quickly (such as the driver and passengers stop opening the door, the surrounding traffic participants stop in front of the door or drive around the door), avoid traffic accidents, and improve driving safety. The warning information enables the driver and passengers to be warned in advance of the possible collision risks when opening the door, improves the driver and passengers' perception and reaction speed to the environment outside the vehicle when opening the door, and allows the driver and passengers to open the door without collision, thereby avoiding accidents and improving traffic safety.

[0022] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0024] Figure 1 It is a schematic diagram of an application scenario of a warning method in certain embodiments of the present application;

[0025] Figure 2 is a schematic flow chart of a warning method in certain embodiments of the present application;

[0026] Figure 3 is a schematic flow chart of a warning method in certain embodiments of the present application;

[0027] Figure 4 is a schematic flow chart of a warning method in certain embodiments of the present application;

[0028] Figure 5 is a schematic flow chart of a warning method in certain embodiments of the present application;

[0029] Figure 6 is a schematic flow chart of a warning method in certain embodiments of the present application;

[0030] Figure 7 It is a scene schematic diagram of the warning method of certain embodiments of the present application;

[0031] Figure 8 is a schematic flow chart of a warning method in certain embodiments of the present application;

[0032] Fig. 9 is a schematic flow chart of a warning method in certain embodiments of the present application;

[0033] Fig.10 is a schematic flow chart of a warning method in certain embodiments of the present application;

[0034] Fig.11 It is a scene schematic diagram of the warning method of certain embodiments of the present application;

[0035] Fig.12 is a schematic flow chart of a warning method in certain embodiments of the present application;

[0036] Fig.13 is a schematic flow chart of a warning method in certain embodiments of the present application;

[0037] Fig.14 is a schematic flow chart of a warning method in certain embodiments of the present application;

[0038] Fig.15 is a schematic diagram of a module of a warning device in some embodiments of the present application;

[0039] Fig.16 is a schematic diagram of the structure of a vehicle according to some embodiments of the present application;

[0040] Fig.17 It is a schematic diagram of the connection status of a non-volatile computer-readable storage medium and a processor in certain embodiments of the present application. DETAILED DESCRIPTION

[0041] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the embodiments of the present application.

[0042] When a vehicle is driving and the driver or passengers want to open the door, pedestrians or vehicles around the vehicle cannot obtain this information, so they cannot avoid the opened door in advance, which can easily lead to a collision and cause a traffic accident.

[0043] At present, when a vehicle opens its door, it is difficult for traffic participants (such as pedestrians, vehicles, etc.) passing by the vehicle to notice the vehicle's door opening in time, or because of the high speed of the vehicle, even if the traffic participants notice the vehicle's door opening, it is difficult to avoid colliding with the open door, resulting in a traffic accident, and the driving safety is low. For example, when the driver and passengers are about to open the door, the warning light sends a warning message to the vehicle approaching outside the vehicle. If the vehicle approaching outside the vehicle does not notice the warning message sent by the vehicle at this time and still approaches the vehicle, it is not the right time for the driver and passengers in the vehicle to open the door, but the driver and passengers cannot obtain this information and still open the door, then the vehicle will collide with the vehicle approaching outside the vehicle, resulting in a traffic accident; or even if the traffic participants notice the vehicle's door opening, they cannot avoid the vehicle's open door due to the high speed of the vehicle, and it is difficult to avoid colliding with the open door, resulting in a traffic accident, and the driving safety is low. .

[0044] Therefore, when the car door is opened, only pedestrians and vehicles passing by outside the car are warned, and traffic safety is insufficient.

[0045] In order to solve the above technical problems, an embodiment of the present application provides a warning method.

[0046] The following first introduces an application scenario of the technical solution of this application. Figure 1 As shown, the warning method provided by the present application can be applied to Figure 1 The warning method is applied in a warning system 1000 , which includes a vehicle 100 .

[0047] The vehicle 100 is any vehicle 100 capable of providing an alert, such as a car, a truck, etc.

[0048] The vehicle 100 includes a vehicle body 50 , a signal processing device 30 , and a domain control device 40 , and the signal processing device 30 and the domain control device 40 are disposed inside the vehicle body 50 .

[0049] In one embodiment, the vehicle 100 further includes a first warning device for issuing a warning message to warn the driver and passengers in the vehicle.

[0050] In one embodiment, the first warning device further includes a sound-generating device 61 , which is disposed inside the vehicle body 50 , and is used to emit voice warning information and the like.

[0051] Optionally, the sound-generating device 61 may be a speaker, a horn, a buzzer, etc.

[0052] In one embodiment, the first warning device further includes a light source 62 , which is disposed inside the vehicle body 50 , and is used to emit light warning information and the like.

[0053] Optionally, the light source 62 may be an ambient light, a door handle light, a lighting lamp, a reading lamp, a projection lamp or the like.

[0054] In one embodiment, the first warning device further includes a seat (not shown in the figure), and the seat can vibrate to send out a vibration warning message.

[0055] In one embodiment, the vehicle 100 further includes a second warning device 70 for issuing a warning message to warn pedestrians or vehicles outside the vehicle.

[0056] Optionally, the second warning device 70 includes multiple ones, which can be set at the rearview mirror, the B-pillar of the vehicle body 50 and other positions of the vehicle.

[0057] In one embodiment, the signal processing device 30 is configured to obtain a door opening action signal of the vehicle 100 , etc.

[0058] In one embodiment, the domain control device 40 is configured to control the issuance of a warning message when it is determined based on environmental information that there is a risk in the door opening action.

[0059] Optionally, the domain control device 40 can integrate modules and systems such as the Body Control Module (BCM), the Passive Entry Passive Start (PEPS), and the Tire Pressure Monitoring System (TPMS), and can integrate and control various systems of the vehicle 100 and realize the update of the vehicle's functions.

[0060] In one embodiment, the vehicle 100 further includes a radar (not shown in the figure), which is disposed at the rear bumper of the vehicle and is used to detect environmental information behind the vehicle.

[0061] In one embodiment, the vehicle 100 further includes an image acquisition device (not shown in the figure), which is disposed on the external vehicle body and is used to transmit images of the surroundings and rear of the vehicle to acquire environmental information.

[0062] Optionally, the image acquisition device includes one or more, and the image acquisition device can be a camera, such as a visible light camera (Red-Green-Blue, RGB), a visible light depth camera (Red-Green-Blue-Depth, RGBD), an infrared camera, a thermal imaging camera, a depth camera, etc. The RGB camera and the RGBD camera can capture visible light images of the scene, the infrared camera can capture infrared images of the scene, the thermal imaging camera can capture thermal imaging images of the scene, and the depth camera can capture depth images.

[0063] In one embodiment, the warning system 1000 further includes a server 200, and the server 200 and the vehicle 100 communicate via a network; the warning information of the vehicle 100 may be deployed locally in the vehicle 100 or at least one of the server 200. For example, the warning information of the vehicle 100 is deployed locally in the vehicle 100 and on the server 200, and the warning information can be changed locally in the vehicle 100, or the warning information of the vehicle 100 is deployed locally in the vehicle 100, and the warning information is changed offline.

[0064] In one embodiment, the server 200 may be an independent physical server 200, or a server 200 cluster or distributed system composed of multiple physical servers 200, or a cloud server 200 that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. The embodiments of the present application are not limited to this.

[0065] In one embodiment, the vehicle 100 may include a central control screen (not shown in the figure), which can display relevant parameters of the customized warning information, such as the light color of the light warning information, etc. The central control screen can also be an interactive touch screen, and the user can issue control commands through the touch of the central control screen, such as modifying the voice content of the voice warning information in the warning information, etc.

[0066] In one embodiment, the warning system 1000 further includes a terminal 300, and the terminal 300 includes a display 301. The terminal 300 can communicate with the vehicle 100, and can perform customized operations on the terminal 300 and send customized warning information to the vehicle 100. The display 301 of the terminal 300 can also display whether the warning information is issued, the specific content of the warning information, etc.

[0067] In one embodiment, the terminal 300 may be, but is not limited to, various personal computers, laptop computers, smart phones, tablet computers, portable wearable devices, and the like.

[0068] In one embodiment, the vehicle 100, the server 200 and the terminal 300 all communicate through a network, such as any two of the vehicle 100, the server 200 and the terminal 300 can communicate wirelessly (such as wireless LAN (Wireless Fidelity, wifi) communication, Bluetooth communication, infrared communication, etc.).

[0069] It can be understood that the communication between the vehicle 100, the server 200 and the terminal 300 is not limited to the above communication method and is not restricted to this.

[0070] For example, when communicating via wifi, the vehicle 100 and the terminal 300 communicate with the server 200 respectively, and then the server 200 realizes the communication between the vehicle 100 and the server 200 (or the terminal 300); for example, when communicating via Bluetooth or infrared, the vehicle 100 and the terminal 300 are each provided with a corresponding communication module to directly realize the communication between the two.

[0071] In one embodiment, the warning method can be implemented by the vehicle 100 in an offline state; or by the vehicle 100 and the terminal 300; it can also be implemented by the vehicle 100 in an online state; or by the vehicle 100 and the terminal 300; or by the server 200 and the terminal 300; or by the vehicle 100, the server 200 and the terminal 300, and so on.

[0072] The warning method of this application is described in detail below:

[0073] See also Figure 1 and Figure 2 , the embodiment of the present application provides a warning method, the warning method comprises:

[0074] Step 011: When the door opening action of the vehicle is detected, the environmental information around the vehicle is obtained.

[0075] Among them, the environmental information around the vehicle may include obstacle information (such as category information of obstacles around the vehicle, location information of obstacles, etc.), traffic information (whether there are traffic lights around the vehicle, whether the traffic lights are on, etc.) and movement information (such as whether there are other vehicles or pedestrians moving towards the vehicle around the vehicle, etc.).

[0076] Specifically, a door handle sensor can be provided on the door of the vehicle. When the driver or passenger in the vehicle makes a door opening action, the door handle sensor detects the door opening action of the vehicle and sends a door opening action signal. The door opening action signal is then transmitted to the signal processing device of the vehicle through the door control circuit, and the signal processing device responds to the door opening action signal. Alternatively, after the door handle sensor detects the door opening action of the vehicle, the door opening action signal is transmitted to the domain control device through the door control circuit, so that the domain control device responds to the door opening action signal.

[0077] By installing radars, cameras, ultrasonic sensors, etc. on the vehicle, environmental information around the vehicle can be acquired when the door opening action of the vehicle is detected. For example, radars and cameras can be installed on the vehicle to detect and identify the environment around the vehicle through the radar, and to capture images around the vehicle through the camera, and environmental information such as obstacle information around the vehicle can be extracted based on an image processing algorithm. For another example, an ultrasonic sensor can be installed on the vehicle to generate ultrasonic waves and receive echoes, and environmental information such as the distance to obstacles can be calculated based on the time difference of the echoes.

[0078] See also Figure 3 Optionally, step 011: obtaining environmental information around the vehicle, including:

[0079] Step 0111: Determine environmental information around the vehicle based on information collected by at least one of the vehicle's radar and image acquisition device.

[0080] Among them, the image acquisition device can be an image processing device such as a camera, and the information collected by at least one of the vehicle's radar and image acquisition device can be information collected by the vehicle's radar; or, information collected by the vehicle's image acquisition device; or, information collected by the vehicle's radar and image acquisition device.

[0081] Specifically, the vehicle's radar and image acquisition device collect environmental information around the vehicle, and the environmental information may include, for example, whether there are obstacles within a preset distance around the vehicle, the position information of the existing obstacles relative to the vehicle, etc. When the vehicle's door opening action is detected, the door handle sensor sends a door opening action signal, and transmits the door opening action signal to the signal processing device or the domain control device through the door control circuit. The signal processing device or the domain control device responds to the vehicle's door opening action signal and collects information around the outside of the vehicle through at least one of the vehicle's radar and image acquisition device, thereby acquiring environmental information around the vehicle.

[0082] Step 012: When it is determined based on environmental information that there is a risk in opening the door, a warning message is issued.

[0083] Among them, the warning information can be information used to warn the driver and passengers in the vehicle, such as the presence of pedestrians, animals or other vehicles approaching the vehicle outside the vehicle, or warning information used to warn pedestrians and other traffic participants outside the vehicle to avoid the vehicle's doors that are about to open. The warning information can be warning information in the form of lights, voices, icons, text, etc.

[0084] Specifically, it is possible to obtain environmental information around the vehicle and determine whether there are risks such as collision between the door and obstacles, collision between the vehicle and pedestrians, etc., based on environmental information such as whether there are obstacles around the vehicle whose distance from the vehicle is less than a preset safety distance, whether there are pedestrians approaching the vehicle, or whether there are traffic lights around the vehicle, etc., by determining whether there are risks in the door opening action, and if it is determined that there are risks in the door opening action, the vehicle is controlled to issue a warning message. For example, if the door opening action of the vehicle is detected, based on the environmental information around the vehicle, it is determined that there are pedestrians approaching the vehicle, then it is determined that there is a risk in the door opening action, and the vehicle is controlled to issue a warning message to warn the driver and passengers in the vehicle that there is a risk in the door opening action and to warn pedestrians outside the vehicle that the vehicle is about to open the door. By warning at least one of the driver or passenger who wants to open the door and the surrounding traffic participants when it is determined that there is a risk in opening the door, the person who obtains the warning information in time can react quickly (the reaction may be such as the driver or passenger stopping opening the door, the surrounding traffic participants stopping in front of the door or driving around to open the door, etc.), controlling the vehicle to issue the warning information, and improving the driver and passenger's perception and reaction speed to the external environment when opening the door, thereby avoiding traffic accidents and improving driving safety.

[0085] See also Figure 4 Optionally, the vehicle includes a first warning device, and the first warning device is arranged in the vehicle. Step 012: issuing a warning message includes:

[0086] Step 0121: Control the first warning device to issue a warning message.

[0087] The first warning device may be a speaker, a light source, etc. The first warning device may be a device for warning the driver and passengers of the vehicle.

[0088] Specifically, the vehicle includes a first warning device, which is arranged in the vehicle. When it is determined based on environmental information that there is a risk in the door opening action, the domain control device of the vehicle controls the first warning device to issue a warning message. For example, the warning message is issued by controlling the flashing lights inside the vehicle, or issuing an alarm voice through a speaker of the vehicle, or displaying a warning text, a warning icon, etc. on a display screen (or instrument panel, etc.) of the vehicle.

[0089] Optionally, the warning information includes at least one of voice warning information, light warning information, and seat vibration warning information.

[0090] Among them, the voice warning information may be voice warning information issued through the vehicle speaker; the light warning information may be light warning information issued by lighting up the light source inside the vehicle, flashing the light source, etc.; the seat vibration warning information may be vibration warning information issued by the vibration of the vehicle seat, and the vibrating seat corresponds to the seat position at the door where the door opening action signal is issued.

[0091] Specifically, the warning information includes voice warning information; or, the warning information includes light warning information; or, the warning information includes vibration warning information; or, the warning information includes voice warning information and light warning information; or, the warning information includes voice warning information and vibration warning information; or, the warning information includes voice warning information, light warning information and vibration warning information. For example, when it is determined based on environmental information that there is a risk in opening the door, the speaker of the vehicle is controlled to issue a voice warning message of "An object is detected approaching outside the vehicle, please open the door carefully" and the light source inside the vehicle is controlled to flash a light warning message to warn the driver and passengers. Various forms of warning information are used to warn the driver and passengers who open the door in the car to avoid accidents and improve traffic safety.

[0092] In this way, by acquiring environmental information about the vehicle's surroundings when the vehicle's door opening action is detected, the vehicle's perception of the surrounding environment is improved, allowing the driver and passengers in the vehicle to more clearly understand the environmental conditions around the vehicle; when it is determined based on environmental information that there is a risk in the door opening action, a warning message is issued, and a risk warning can be issued to at least one of the driver and passengers who want to open the door and the surrounding traffic participants, so that the personnel who obtain the warning information in time can respond quickly (such as the driver and passengers stop opening the door, the surrounding traffic participants stop in front of the door or drive around the door), avoid traffic accidents, and improve driving safety. The warning information enables the driver and passengers to be warned in advance of the possible collision risks when opening the door, improves the driver and passengers' perception and reaction speed to the outside environment when opening the door, and allows the driver and passengers to open the door without causing a collision, thus avoiding accidents and improving traffic safety.

[0093] See also Figure 5 In some embodiments, the environmental information includes location information of objects around the vehicle, and the warning method further includes:

[0094] Step 013: When it is determined based on the position information of the objects around the vehicle that there is a target object moving toward the vehicle, it is determined that there is a risk in the door opening action.

[0095] The object may be a pedestrian, an animal, another vehicle or an obstacle, etc. The object may be one or more objects, and the position information may be the relative position between the object and the vehicle, including the distance and direction between the object and the vehicle.

[0096] Specifically, the environmental information includes the position information of objects around the vehicle, such as the position information of pedestrians or vehicles around the vehicle relative to the vehicle, etc. Based on the position information of the objects around the vehicle, it is determined whether there is a target object moving toward the vehicle among the various objects. When it is determined that there is a target object moving toward the vehicle, it is determined that there is a risk of collision between the door opening action and the target object. For example, within a preset time, based on the position information of the objects around the vehicle, it is determined that the distance of a certain object relative to the vehicle decreases, and the change value is greater than a preset distance threshold, then the object is determined to be a target object moving toward the vehicle, and it is determined that there is a risk of door opening action.

[0097] See also Figure 6 In some embodiments, the warning method further comprises:

[0098] Step 014: Determine the moving direction of the object based on the position information of the object collected within a preset time period;

[0099] Step 015: When the moving direction of any object is toward the vehicle, it is determined that there is a target object moving toward the vehicle.

[0100] Among them, the preset time length can be 50 milliseconds (ms), 1 second (s), 1.1s, 1.3s, 1.5s, etc., which are not listed here one by one.

[0101] Specifically, the moving direction of the object is determined by the change in the position information of the object collected within a preset time period. When the moving direction of any object is toward the vehicle, the object corresponding to the moving direction is considered to be the target object moving toward the vehicle.

[0102] For example, see Figure 7 , take the example of three objects, namely object A, object B and object C, and the preset duration is 1s. It is obtained that object A moves from the initial position a to a1 after the preset duration of 1s, and the moving direction is determined to be A1. It is obtained that object B moves from the initial position b to b1 after a preset time of 1s, and the moving direction is B1. It is obtained that the object C moves from the initial position c to c1 after a preset time of 1s, and the moving direction is C1. Determine whether there is an object moving toward the vehicle by the moving directions of objects A, B, and C. As can be seen from the figure, A1 is the direction away from the vehicle, B1 is close to the vehicle, that is, the direction moving toward the vehicle, and C1 is stationary, that is, object A moves away from the vehicle, object B moves toward the vehicle, and object C is stationary, that is, it is determined that object B is the target object B moving toward the vehicle.

[0103] See also Figure 8 Optionally, the environmental information includes location information of objects around the vehicle, and the warning method further includes:

[0104] Step 016: When it is determined that there is a target object whose distance from the vehicle is less than a preset distance based on the position information of the objects around the vehicle, it is determined that there is a risk in opening the door.

[0105] Among them, the preset distance can be a safe distance at which a collision does not occur with the vehicle when the vehicle door is opened, such as 0.5 meters (m), 0.6m, 0.7m, 0.8m, 0.9m, 1m and other distances.

[0106] Specifically, the environmental information includes the position information of objects around the vehicle. Based on the position information of objects around the vehicle, it is determined whether there is a target object around the vehicle whose distance from the vehicle is less than a preset distance. For example, taking the preset distance of 0.5m as an example, the radar sensor detects that there is an object around the vehicle whose distance from the vehicle is 0.4m, and 0.4m<0.5m. The object is determined to be the target object. At this time, opening the door may result in a collision with the target object. Therefore, when it is determined that there is a target object whose distance from the vehicle is less than the preset distance, it is determined that there is a risk in opening the door.

[0107] See also Fig. 9 In some embodiments, the vehicle further includes a second warning device, which is disposed on the vehicle and located outside the vehicle. Step 012: issuing a warning message includes:

[0108] Step 0122: Control the second warning device to issue a warning message.

[0109] Among them, the second warning device can be a light source, a speaker, etc. The second warning device is arranged on the vehicle and located outside the vehicle. The second warning device can be arranged on the rearview mirror of the vehicle, the B-pillar of the vehicle, etc.

[0110] Specifically, in the case of a target object moving toward the vehicle, the second warning device is controlled by the vehicle's domain control device to send warning information to traffic participants around the vehicle through sound, light, etc. For example, in the case of a target object moving toward the vehicle, the flashing light source on the B-pillar of the vehicle emits a flashing light to warn objects around the vehicle, so that pedestrians, vehicles and other traffic participants around the vehicle can perceive the presence of the vehicle and the intention to open the door, thereby reminding the objects to avoid and reduce potential accident risks.

[0111] Optionally, the second warning device includes a projection device, and the warning information includes a warning image projected by the projection device.

[0112] The projection device may be a projection lamp, etc., and the warning image may be a highly visible warning image such as a red flashing light band, a warning icon, etc.

[0113] Specifically, the second warning device may include a projection device. When the vehicle's door opening action is detected and it is determined that there is a target object moving towards the vehicle, the projection device can project a warning image onto the ground through the lighting, flashing, and projection functions of the projection device, so that objects around the vehicle can make early warning preparations and avoid the vehicle that is about to open its door; and the warning image can improve the visibility of the vehicle and help other traffic participants determine the location of the vehicle. For example, at night or in severe weather conditions, a warning image with high visibility can make it easier for other traffic participants to perceive the location of the vehicle and thus avoid it.

[0114] Optionally, the warning image is projected below the outer side of a door of the vehicle.

[0115] Specifically, see Fig.11 The second warning device projects a warning image onto the ground below the outer side of the vehicle's door. The warning image is formed on the ground, which not only increases the visibility of the vehicle, but also conveys the vehicle's intention to open the door to other traffic participants outside the vehicle, so as to warn other traffic participants outside the vehicle.

[0116] See also Fig.10 In some embodiments, the second warning device includes multiple second warning devices, and the multiple second warning devices are respectively set to multiple vehicle doors. Step 0122: controlling the second warning device to issue a warning message includes:

[0117] Step 01221: Determine a target door corresponding to the door opening action among multiple doors;

[0118] Step 01222: Control the second warning device corresponding to the target door to issue a warning message.

[0119] Specifically, the second warning device includes a plurality of second warning devices, and the plurality of second warning devices are respectively set corresponding to a plurality of vehicle doors. One second warning device may be set corresponding to one vehicle door; or one second warning device may be set corresponding to the vehicle door on one side. The door handle sensor detects the door opening action and sends a corresponding door opening action signal. The signal processing device responds to the door opening action signal, determines one or more target vehicle doors corresponding to the door opening action signal, and then controls the second warning device corresponding to the target vehicle door to send out a warning message.

[0120] For example, see Fig.11 , taking the preset warning image as a red flashing light strip, the second warning device includes two, namely a second warning device 71 and a second warning device 72, and they are respectively arranged on the left and right B-pillars of the vehicle. One second warning device corresponds to the door on one side (i.e., two doors) as an example for explanation. The door opening action is detected by the door handle sensor, and a door opening action signal is sent out accordingly. It is determined that door D is the target door. Door D corresponds to the second warning device 71. The domain control device controls the second warning device 71 to project a red flashing light strip S1 onto the ground to warn objects around the vehicle.

[0121] See also Fig.12 In some embodiments, after issuing the warning message, the warning method further includes:

[0122] Step 017: In the case where it is determined based on environmental information that there is still a risk of door opening action, if the door opening action is detected again, the vehicle doors are locked.

[0123] Wherein, when the doors of the vehicle are locked, the doors of the vehicle cannot be opened.

[0124] Specifically, a door lock controller can be set in the vehicle. When it is determined based on environmental information that there is still a risk in the door opening action, if the door handle sensor detects the door opening action again, the vehicle's domain control device controls the vehicle's door lock controller to lock the vehicle's door through the door control circuit to prevent accidents and ensure the safety of people. For example, when the door handle sensor in the door detects the door opening action of the vehicle, the vehicle determines that there is a risk in the door opening action based on the acquired environmental information, controls the first warning device to send a warning message to warn the driver and passengers in the vehicle, and controls the second warning device to send a warning message to warn other traffic participants outside the vehicle; after 5 seconds, based on environmental information, the vehicle determines that there is still a risk in the door opening action, but at this time the door handle sensor in the door detects the door opening action again, then controls the door lock controller to lock the vehicle's door.

[0125] See also Fig.13 In some embodiments, after the vehicle door is locked, the warning method further includes:

[0126] Step 018: When a door unlock signal is received, the door is unlocked. The door unlock signal is generated based on an unlock operation received by any one of a self-locking button set on the vehicle, a central control screen of the vehicle, and a terminal connected to the vehicle for communication.

[0127] Among them, the door unlock signal can be a signal used to represent the unlocking of the door. The door unlock signal is generated based on the unlock operation received by any one of the self-lock button set by the vehicle, the central control screen of the vehicle and the terminal connected to the vehicle for communication. It can be generated based on the unlock operation received by the self-lock button set by the vehicle; or, based on the unlock operation received by the central control screen of the vehicle; or, based on the unlock operation received by the self-lock button set by the vehicle and the terminal connected to the vehicle for communication; or, based on the unlock operation received by the self-lock button set by the vehicle, the central control screen of the vehicle and the terminal connected to the vehicle for communication, etc., which are not listed here one by one.

[0128] Specifically, when any one of the self-locking button set in the vehicle, the central control screen of the vehicle and the terminal connected to the vehicle for communication receives an unlocking operation, a door unlocking signal is generated, and the door control circuit is controlled to send a door unlocking signal. When the door unlocking signal is received, the door lock controller of the vehicle is controlled to unlock the door through the domain control device of the vehicle, so that when the target object is away from the vehicle or the recognition of the target object is incorrect, the driver and passengers can unlock the door and enter and exit the vehicle freely, thereby improving flexibility and convenience.

[0129] Optionally, the warning information also includes customized warning information, which is generated based on a customized operation received by any one of the central control screen of the vehicle and the terminal connected to the vehicle for communication.

[0130] Among them, the customized warning information can be a warning information generated after the user customizes the warning information; the customized warning information can be generated based on a customized operation received by the vehicle's central control screen; or, the customized warning information can be generated based on a customized operation received by a terminal connected to the vehicle for communication, and this application does not impose any restrictions on this.

[0131] Specifically, users can customize the warning information through the vehicle's central control screen or a terminal connected to the vehicle, such as changing the voice content of the warning information in voice form, changing the text content, text color, projection image, etc. of the warning information in projection form.

[0132] Optionally, see Fig.14 , warning methods also include:

[0133] Step 019: receiving a customized operation to determine a customized warning message;

[0134] Step 0121: Controlling the first warning device to issue a warning message, including:

[0135] Step 01211: Control the first warning device to send a customized warning message.

[0136] Specifically, the warning information can be changed and customized through the vehicle's central control screen, the vehicle's voice interaction system, the terminal that communicates with the vehicle, the vehicle's remote upgrade technology (Over The Air, OTA), etc., such as changing the voice content of the warning voice information, the lighting dynamic effects and lighting colors of the lighting warning information, etc. After receiving the customized warning information, the vehicle controls the first warning device to send out the customized warning information, thereby enhancing the interactive experience between the driver and the vehicle and improving the warning function of the system.

[0137] See also Fig.15 In order to better implement the warning method of the embodiment of the present application, the embodiment of the present application also provides a warning device 10. The warning device 10 may include an acquisition module 11 and a control module 12. The acquisition module 11 is used to acquire environmental information around the vehicle when the door opening action of the vehicle is detected; the control module 12 is used to issue a warning message when it is determined based on the environmental information that the door opening action has a risk.

[0138] In one embodiment, the warning device 10 further includes a determination module 13, and the determination module 13 is used to determine that there is a risk in the door opening action when it is determined that there is a target object moving toward the vehicle based on position information of objects around the vehicle.

[0139] In one embodiment, the warning device 10 also includes a determination module 13, which is used to determine the moving direction of the object based on the position information of the object collected within a preset time period; when the moving direction of any object is toward the vehicle, it is determined that there is a target object moving toward the vehicle.

[0140] In one embodiment, the vehicle includes a first warning device, which is disposed in the vehicle. The control module 12 is further configured to control the first warning device to send out warning information.

[0141] In one embodiment, the vehicle further includes a second warning device, which is disposed on the vehicle and located outside the vehicle. The control module 12 is specifically used to control the second warning device to send out warning information.

[0142] In one embodiment, the second warning device includes multiple second warning devices, which are respectively set corresponding to multiple vehicle doors. The control module 12 is also specifically used to determine the target door corresponding to the door opening action among the multiple vehicle doors, and control the second warning device corresponding to the target door to send out a warning message.

[0143] In one embodiment, the warning device 10 further includes a locking module 14, which locks the vehicle doors if the door opening action is detected again, in the case where it is determined based on the environmental information that there is still a risk of the door opening action.

[0144] In one embodiment, the warning device 10 also includes an unlocking module 15. After the vehicle door is locked, the unlocking module 15 is used to unlock the door when a door unlocking signal is received. The door unlocking signal is generated based on an unlocking operation received by any one of a self-locking button set for the vehicle, a central control screen of the vehicle, and a terminal connected to the vehicle for communication.

[0145] The electronic device of the embodiment of the present application includes a processor, the processor is connected to a memory, a computer program is stored in the memory, and the processor executes the computer program to implement any one of the warning methods described above. For the sake of brevity, it will not be repeated here.

[0146] The electronic device may be used as a processor of the vehicle, and the electronic device may be installed in the vehicle so that the vehicle can implement the warning method of any of the above-mentioned embodiments through the electronic device.

[0147] See also Figure 1 The vehicle 100 of the embodiment of the present application includes the electronic device of the above embodiment, such as the electronic device is the processor 30 of the vehicle 100. The vehicle 100 implements any one of the above warning methods through the electronic device.

[0148] See also Fig.12 The vehicle of the embodiment of the present application may also include a processor 302, a memory 303 and a computer program, wherein the computer program is stored in the memory 303 and executed by the processor 302, and the computer program includes instructions for executing the warning method of any of the above-mentioned embodiments.

[0149] See also Fig.13 The embodiment of the present application also provides a computer-readable storage medium 600 on which a computer program 610 is stored. When the computer program 610 is executed by a processor 620, the steps of the warning method of any of the above-mentioned embodiments are implemented. For the sake of brevity, they are not repeated here.

[0150] In the description of this specification, the descriptions with reference to the terms "certain embodiments", "in an example", "exemplarily", etc., mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0151] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0152] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A warning method, characterized in that: include: When a door opening action of the vehicle is detected, obtaining environmental information around the vehicle; When it is determined based on the environmental information that there is a risk in the door opening action, a warning message is issued.

2. The warning method according to claim 1, characterized in that: The environmental information includes position information of objects around the vehicle, and the method further includes: In a case where it is determined based on position information of objects around the vehicle that there is a target object moving toward the vehicle, it is determined that there is a risk in the door opening action.

3. The warning method according to claim 2, characterized in that: The method further comprises: Determining a moving direction of the object based on the position information of the object collected within a preset time period; In a case where the moving direction of any of the objects is toward the vehicle, it is determined that there is a target object moving toward the vehicle.

4. The warning method according to claim 1, characterized in that: The vehicle includes a first warning device, which is arranged in the vehicle, and the issuing of warning information includes: Control the first warning device to issue the warning information.

5. The warning method according to claim 4, characterized in that: The warning information includes at least one of voice warning information, light warning information, and seat vibration warning information.

6. The warning method according to claim 1 or 4, characterized in that: The vehicle further includes a second warning device, which is disposed on the vehicle and located outside the vehicle. The issuing of the warning information includes: The second warning device is controlled to issue the warning information.

7. The warning method according to claim 6, characterized in that: The second warning device includes a projection device, and the warning information includes a warning image projected by the projection device.

8. The warning method according to claim 7, characterized in that: The warning image is projected below the outer side of a door of the vehicle.

9. The warning method according to any one of claims 6 to 8, characterized in that: The second warning device includes a plurality of devices, and the plurality of second warning devices are respectively arranged corresponding to a plurality of vehicle doors, and the controlling the second warning device to issue the warning information includes: Determining a target door corresponding to the door opening action among the plurality of doors; The second warning device corresponding to the target door is controlled to issue a warning message.

10. The warning method according to claim 1, characterized in that: After issuing the warning message, the method further includes: In the case where it is determined based on the environmental information that the door opening action still presents a risk, if the door opening action is detected again, the vehicle doors are locked.

11. The warning method according to claim 10, characterized in that: After the vehicle door is locked, the method further includes: When a door unlock signal is received, the door is unlocked. The door unlock signal is generated based on an unlock operation received by any one of a self-locking button set on the vehicle, a central control screen of the vehicle, and a terminal connected to the vehicle for communication.

12. The warning method according to claim 1, characterized in that: The warning information further includes customized warning information, which is generated based on a customized operation received by any one of a central control screen of the vehicle and a terminal communicatively connected to the vehicle.

13. A warning device, characterized in that: include: An acquisition module, used to acquire environmental information around the vehicle when a door opening action of the vehicle is detected; The control module is used to issue a warning message when it is determined based on the environmental information that there is a risk in the door opening action.

14. An electronic device, characterized in that: include: A processor, the processor is connected to a memory; a computer program is stored in the memory, and the processor executes the computer program to implement instructions of the warning method described in any one of claims 1 to 12.

15. A vehicle, characterized in that: include: The warning device according to claim 13 or the electronic device according to claim 14.

16. A non-volatile computer-readable storage medium, characterized in that: The invention comprises a computer program, which, when executed by a processor, enables the processor to execute the warning method according to any one of claims 1 to 12.

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